The present study considered only planar objects in 2D and two components of pose. As recent results have shown how to extend the PoseNet to 3D surfaces (3 pose components) or 3D edges (5 pose components) for tactile servo control [1]}, [2]}, we expect the present results will extend to those situations, although questions remain on the best way to do this with the large number of degrees of freedom. Although the proposed disentanglement-based approach to remove shear from sensor response has been tested on TacTip optical tactile sensor, it should hold well for other soft optical sensors. The models, however, would have to be retrained as the sensor response depends on the frictional and elastic properties of the tactile surface, which varies across sensor types.
